621.865.8.001.5 and E. V. RomashWe have analyzed the Kasa and Levenberg algorithms for estimating the error in determining the center of rotation of links in a kinematic chain of an industrial robot. We develop recommendations for the initialization of calibration techniques for commercially produced industrial robots using a laser coordinate-measuring system. Keywords: industrial robot calibration, laser tracker, centers of degrees of freedom, nonlinear least squares method.Currently, in mechanical engineering there is an increasing demand for quality products having a complex geometric shape. In a number of machining operations, such as shaped processing, drilling and deburring, the manufacture of these products requires orienting tools in a special way. To do this, it is advisable to use robotic technological complexes (RTC), which, being fl exible manufacturing systems in comparison with multi-axis machining centers, have a signifi cantly lower cost [1,2]. However, RTC industrial robots provide lower precision. Improving precision is a real challenge, according to [3].Correct calibration is the primary basis for accurate RTC performance characteristics. Any calibration of an industrial robot includes a procedure for determining the actual values of control parameters and their communication to the control system (control model). Analysis of the research over the last 5 years shows that the problem of developing the methodology for this operation has received insuffi cient study [4][5][6][7][8][9][10][11][12][13][14][15][16]. This article discusses the fi rst stage of calibration, namely, the method of determining the actual values of the coordinates of the centers of rotation of the links in the kinematic chain of an industrial robot -centers of the degrees of freedom (DF). Since DF is a connection of two links enabling transfer to one of them of the control coordinate and including the drive, a motion-transmitting link, then the center of the DF is a point belonging to the axes of rotation of the links [17].
In this article, in order to justify the expediency of using a robot in maxillofacial operations with a diode laser, four basic criteria for comparing typical trajectories are presented, which allow quantifying the program movements of the robot and the manual movements of the surgeon. The presented comparison criteria are in part based on the ISO 9283. An experimental setup has been developed for the research, in which the medical instrument is moved using the robot KUKA LWR 4+. The robot's movements are measured using a coordinate measuring machine, a laser tracker. Along with the measurements of the program movements of the robot, the manual movements of the surgeon are also measured.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.